It sounds like u definitely have some anxiety going on... Are u medicated for it? I think the 1st thing to do is consult a psychologist or a psychiatrist, since the anxiety is clearly interfering with you ability to function and with your own safety (eg the driving). They can get you started on anti anxiety medication, which can really be of assistance. If you don't want to go the mediation route, then they can assist you with coping strategies such as breathing exercises, etc